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<p><code>#include &lt;<a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>&gt;</code></p>
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Public Member Functions</h2></td></tr>
<tr class="memitem:aaa11de4f2848925f49dac91be1d07794"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#aaa11de4f2848925f49dac91be1d07794">LegControllerData</a> ()</td></tr>
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<tr class="memitem:a8937593f0662dc0df89bea01325fced5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a8937593f0662dc0df89bea01325fced5">setQuadruped</a> (<a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt; &amp;quad)</td></tr>
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<tr class="memitem:a9faa6e0c840e28c95cc048c8e97a9e79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a9faa6e0c840e28c95cc048c8e97a9e79">zero</a> ()</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a934f4590f7b794f3ccddab815b6d377c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a934f4590f7b794f3ccddab815b6d377c">q</a></td></tr>
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<tr class="memitem:ab38925da3d2aea6828c34660c4b5992d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#ab38925da3d2aea6828c34660c4b5992d">qd</a></td></tr>
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<tr class="memitem:ac128962eaefb1ce5f77655b1fbbd399f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#ac128962eaefb1ce5f77655b1fbbd399f">p</a></td></tr>
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<tr class="memitem:a56845a60aa0dd7573917a268aa20697a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">J</a></td></tr>
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<tr class="memitem:a3bddf02804598a241dddc0514d9653f0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">tauEstimate</a></td></tr>
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<tr class="memitem:a87235f1bcd9e072075be78c9072add89"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">quadruped</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
struct LegControllerData&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00034">34</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>
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template&lt;typename T&gt; </div>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::<a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a> </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00036">36</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{ <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a9faa6e0c840e28c95cc048c8e97a9e79">zero</a>(); }</div><div class="ttc" id="struct_leg_controller_data_html_a9faa6e0c840e28c95cc048c8e97a9e79"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a9faa6e0c840e28c95cc048c8e97a9e79">LegControllerData::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00033">LegController.cpp:33</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::setQuadruped </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>quad</em></td><td>)</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00038">38</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{ <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">quadruped</a> = &amp;quad; }</div><div class="ttc" id="struct_leg_controller_data_html_a87235f1bcd9e072075be78c9072add89"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a87235f1bcd9e072075be78c9072add89">LegControllerData::quadruped</a></div><div class="ttdeci">Quadruped&lt; T &gt; * quadruped</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00045">LegController.h:45</a></div></div>
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          <td class="memname">void <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::zero </td>
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<p>Definition at line <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html#l00033">33</a> of file <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html">LegController.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                                {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a934f4590f7b794f3ccddab815b6d377c">q</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#ab38925da3d2aea6828c34660c4b5992d">qd</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#ac128962eaefb1ce5f77655b1fbbd399f">p</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#ab9ce5de5a32042e93889f43329d560ee">v</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">J</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">tauEstimate</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a3bddf02804598a241dddc0514d9653f0"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a3bddf02804598a241dddc0514d9653f0">LegControllerData::tauEstimate</a></div><div class="ttdeci">Vec3&lt; T &gt; tauEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00044">LegController.h:44</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a934f4590f7b794f3ccddab815b6d377c"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a934f4590f7b794f3ccddab815b6d377c">LegControllerData::q</a></div><div class="ttdeci">Vec3&lt; T &gt; q</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00042">LegController.h:42</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_ac128962eaefb1ce5f77655b1fbbd399f"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#ac128962eaefb1ce5f77655b1fbbd399f">LegControllerData::p</a></div><div class="ttdeci">Vec3&lt; T &gt; p</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00042">LegController.h:42</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_a56845a60aa0dd7573917a268aa20697a"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#a56845a60aa0dd7573917a268aa20697a">LegControllerData::J</a></div><div class="ttdeci">Mat3&lt; T &gt; J</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00043">LegController.h:43</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_ab38925da3d2aea6828c34660c4b5992d"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#ab38925da3d2aea6828c34660c4b5992d">LegControllerData::qd</a></div><div class="ttdeci">Vec3&lt; T &gt; qd</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00042">LegController.h:42</a></div></div>
<div class="ttc" id="struct_leg_controller_data_html_ab9ce5de5a32042e93889f43329d560ee"><div class="ttname"><a href="../../d7/d6e/struct_leg_controller_data.html#ab9ce5de5a32042e93889f43329d560ee">LegControllerData::v</a></div><div class="ttdeci">Vec3&lt; T &gt; v</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00042">LegController.h:42</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt;T&gt; <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::J</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00043">43</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00042">42</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::q</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00042">42</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00042">42</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt;T&gt;* <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt;::quadruped</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00045">45</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00044">44</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00042">42</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<hr/>The documentation for this struct was generated from the following files:<ul>
<li><a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a></li>
<li><a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html">LegController.cpp</a></li>
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